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Formation Tracking Control Of Multiple Quadrotors

Posted on:2016-05-08Degree:DoctorType:Dissertation
Country:ChinaCandidate:Abbas RabahFull Text:PDF
GTID:1108330503453423Subject:Control Science and Engineering
Abstract/Summary:PDF Full Text Request
In the last few years, there has been an increasing interest of the control of unmanned aerial vehicle quadrotor. The quadrotor has an advantage of a high maneuverability due to its inherent dynamic nature. The use of quadrotors focuses on the replacement of human in dangerous and difficult missions, where the human life safety is not guaranteed. It is widely used in many countries in military and civil applications.Quadrotor can also perform solo mission where it can achieve good performances. But, face with a number of complex tasks required for high efficiency and being done in parallel, a single quadrotor cannot accomplish these tasks simultaneously. To solve this problem, a group of the helicopters are called to cooperate in order to fly in a desired formation. There are many advantages when a team of vehicles moves in formation, such as the decreasing of system cost, the increasing of efficiency, the robustness of the system to the external effect, etc.Motivated by the different advantages of the quadrotors when they fly in formation, in this thesis, we consider the problem of formation tracking control of multiple quadrotors. The main contents and contributions can be summarized as follows:(1) Proportional integral derivative and Lyapunov-based controllers are proposed to ensure the tracking formation control for multiple quadrotors in x-y plane with equal height z, then in order to improve the performances of controller in terms of convergence and time response artificial fish swarm algorithm is applied.(2) A fuzzy logic and proportional derivative controllers are proposed to ensure the formation tracking for multiple quadrotors in x-y plane with equal height z, then in order to improve the performances of controller in terms of convergence and time response genetic algorithm is used.(3) Algorithms are proposed to keep the formation shape of multiple quadrotors even the communication is failed. These algorithms are applied to estimate the trajectory of the leader by using polynomial regression technique and genetic algorithm.(4) An algorithm is proposed to solve the distributed formation tracking control in both static and time varying signal for all system states and their derivatives with directed topology. The proposed controllers ensure the formation of a team of quadrotors with the presence of the uncertainties and without the knowledge of the leader acceleration.(5) An algorithm is proposed to solve the rendezvous problem of a team of quadrotors. In this algorithm, the distributed formation problem for static leader with the undirected topology is investigated. We design the protocols and give the necessary conditions that the followers converge to the leader trajectory with presence of uncertainty caused by the ground effect.
Keywords/Search Tags:Unmanned aerial vehicle, Quadrotor, Formation control, Leader follower, Genetic algorithm, Artificial fish swarm algorithm
PDF Full Text Request
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